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GCS_MAVLink: report more internal errors in SYS_STATUS

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Peter Barker 2019-05-22 11:56:44 +10:00 committed by Peter Barker
parent 6774bab363
commit 1b90643751
2 changed files with 6 additions and 11 deletions
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3
libraries/GCS_MAVLink/GCS.h
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@ -976,9 +976,6 @@ public:
virtual bool simple_input_active() const { return false; }
virtual bool supersimple_input_active() const { return false; }
// returns 16-bits worth of error data to be packed into SYS_STATUS field
static uint16_t sys_status_errors1();
protected:
uint32_t control_sensors_present;

14
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -944,12 +944,6 @@ void GCS_MAVLINK::handle_radio_status(mavlink_message_t *msg, bool log_radio)
}
}
uint16_t GCS::sys_status_errors1()
{
const uint32_t errors = AP::internalerror().errors();
return errors & 0xffff;
}
/*
handle an incoming mission item
return true if this is the last mission item, otherwise false
@ -4225,6 +4219,10 @@ void GCS_MAVLINK::send_sys_status()
gcs().get_sensor_status_flags(control_sensors_present, control_sensors_enabled, control_sensors_health);
const uint32_t errors = AP::internalerror().errors();
const uint16_t errors1 = errors & 0xffff;
const uint16_t errors2 = (errors>>16) & 0xffff;
mavlink_msg_sys_status_send(
chan,
control_sensors_present,
@ -4236,8 +4234,8 @@ void GCS_MAVLINK::send_sys_status()
battery_remaining, // in %
0, // comm drops %,
0, // comm drops in pkts,
gcs().sys_status_errors1(),
0, // errors2
errors1,
errors2,
0, // errors3
0); // errors4
}